Submersible submersible underway docking unit

ABSTRACT

A docking system employs a haul down winch to recover and secure a swimmer delivery vehicle to the deck of a large submarine. A buoyancy system is used to deploy a haul down line in a vertical position extending above the submarine vehicle. An acoustic pulse transmitter provides guidance signals to direct the small swimmer delivery submersible to a point of engagement with the haul down line. An attachment means is secured to the line and cooperates with a capture socket carried on the nose of the submersible vehicle. A line capture and guidance device is also mounted on the nose of the sumbersible swimmer delivery vehicle to assist in attaching the vehicle to the haul down line.

United States Patent 11 1 Seiple 1451 Sept. 11,1973

[ SUBMERSIBLE SUBMERSIBLE UNDERWAY DOCKING UNIT [75] Inventor: Ronald L. Seiple, Kailua, Hawaii [73] Assignee: The United States of America as represented by the Secretary of the Navy, Washington, DC.

[22]' Filed: Apr. 21, 1972 [211 Appl. No.: 246,443

52 13.8. c1. 114 16 51 16:. c1. 863g 8/00 58 Field of Search 114/16 R, 16 A, 16.4,

114/165, 50, 51, 218, 43.5, 230, 235 A, 235 B, 235 F, 235 R; 244/115, 116, 137; 294/66;

[56] References Cited UNITED STATES PATENTS 1,634,964 7/1927 Steinmetz 244/115 10/1969 Brown 114/218 Primary Examiner-Mi1ton Buchler Assistant Examiner-Char1es E. Frankfort Attorney-Richard S. Sciascia et a1.

[57] ABSTRACT A docking system employs a haul down winch to recover and secure a swimmer delivery vehicle to the cle. A line capture and guidance device is also mounted on the nose of the sumbersible swimmer delivery vehicle to assist in attaching the vehicle to the haul down line.

10 Claims, 4 Drawing Figures SUBMERSIBLE SUBMERSIBLE UNDERWAY DOCKING UNIT STATEMENT OF GOVERNMENT INTEREST The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.

FIELD OF THE INVENTION The invention pertains to a docking system to permit two vehicles to dock with one another. More particularly, this invention provides a docking system whereby a smaller vehicle is attached to and drawn to the larger vehicle. In still greater particularity, but not with limitation thereto, the invention is directed to a docking system to permit two manned vehicles to be united while underway. Although such a system has uses in other environments, such as outer space and lighter than air aircraft, the invention will be described as it pertains to submarine vehicles. In greater particularity, the invention will be described as it pertains to a docking arrangement for a small swimmer delivery submersible vehicle to be united with and carried by a large submarine vehicle.

DESCRIPTION OF THE PRIOR ART There have, of course, been other attempts to dock to small submarine vehicles operating beneath the surface of the water in the past. These prior rendezvousdocking systems have for the most part employed electronics guidance systems to assist the docking vessel to locate and approach the mother ship. Such systems are expensive and complicated and require valuable storage space within the small submersible vehicle. Also, the complicated electronics guidance and attachment system have lower than ideal reliability factors and add significantly to the electronics maintenance work load of the already taxed submarine vehicles crew.

Most of the prior art systems are characterized by having a rigid arm or mooring mast protruding away from the hull of a submarine vehicle. During the docking operation, the smaller submersible vehicle approaches the larger vehicle from astern overtaking the larger vehicle and engaging the mooring arm or mast. Once the mating with the arm or mast has been accomplished, the submersible vehicle reverses its motor to pull itself downwardly to the larger submarine vehicle's deck.

These systems function in a trapeze-like fashion to position the smaller vehicle in the docking area on the larger vehicle's deck. This system requires a very precise navigation including a visual contact with the arm and the submarine vehicle. Therefore, the system is limited to operational personnel having a very precise navigation skill. Such skill is acquirable only through extensive training. Too, the successful use of these systems requires high visibility operational conditions to permit visual contact between the submersible and the submarine mother ship. Operational experience with this system has shown that the system is dangerous and ofttimes results in damage to the smaller swimmer delivery vehicle and possible injury to the personnel therein.

Another method of swimmer delivery vehicle recovery to the deck of a largersubmarine vehicle has employed a net to capture the smaller swimmer delivery vehicle. In this system, like the previously described system, the smaller swimmer delivery submersible approaches the mother submarine from astern, overtakes the submarine, and drives itself into a net which is deployed in an extended position behind the submarine vehicles sail. When thus ensnared, the vehicle is lowered to the deck of the submarine vehicle by either moving the net or by personnel outside the submarine vehicle on the deck thereof. As in the previously de scribed system, a high level of operational skill and considerable risk to the submersible swimmer delivery vehicle are involved with this system. Also, this system requires visual contact in order to be performed successfully.

Because of the disadvantages inherent in the aforedescribed system, docking operations between small submersible vehicles and larger submarine vehicles have not been able to be conducted while both vessels are underway in limited visibility waters or without the expenditure of considerable time and effort in the docking maneuver with a correspondingly high risk of damage to the submersible vehicle. Also, the prior art systems required the submarine mother ship to operate at relatively shallow depths where the swimmer delivery vehicle may be operated safely. The desirability of being able to conduct such maneuvers under darkness or without coming to the surface is too apparent to be dwelt on at length. However, it should be noted that there are many instances when oceanographic scientists, explorers, and government applications require the deployment of underwater swimmers at a distance from their mother ship and in waters too remote to be conveniently reached by swimming. For such applications, it is highly desirable to deploy a small submersible swimmer delivery vehicle from the mother ship to deliver the divers to the point where they are to be deployed and to return them to the mother ship. In order to provide maximum reliability, it is, of course, necessary that the returning swimmers be able to dock with the mother ship under adverse conditions of visibility.

SUMMARY OF THE INVENTION In the system of the invention, a haul down line is vertically deployed above a mother ship. A small, low power, pulsing acoustic transducer is affixed to this line and provides guidance for the returning submersible vehicle. A coupling means is attached to the line and, in the illustrated embodiment, may comprise a spherical ball. .A socket carried on the forward end of submersible vehicle mates to the ball carried on the haul down line such that when connection is established, the submersible vehicle may be lowered by means of a winch to a resting position on the submarine deck. Fun ther refinements characterizing the system include a buoyant support for the haul down line and a retractable line catching and guiding arrangement carried on the forward portion of the submersible vehicle.

STATEMENT OF THE OBJECTS OF THE INVENTION It is accordingly an object of this invention to provide an intervehicular docking system.

A further object of the present invention is to provide an improved docking system where a smaller vehicle is drawn to its mother ship by means of a winch driven cable.

A further object of this invention is to provide a docking system for a small submersible swimmer delivery vehicle to be docked to a larger parent submarine vehicle.

Another object of the present invention is to provide a docking system for a small submersible submarine vehicle which may be used in conditions of limited visibility to dock with a parent submarine vehicle.

Yet another object of the present invention is to provide a docking system for a submersible swimmer delivery vehicle which permits freedom of navigation of said submersible submarine vehicle without danger of collision with the parent or mother ship.

Still another object of this invention is to provide a docking system to attach a submersible swimmer delivery vehicle to the deck of a submarine vehicle while both vehicles are underway.

Still another object of the present invention is to provide a docking system for a submersible vehicle to a submerged submarine vehicle where the submersible vehicle is engaged by a buoyant line carried catch ball.

These and other objects of the invention will become more readily apparent from the ensuing specification when taken with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a submersible vehicle approaching the haul down line using the system of the invention;

FIG. 2 is a perspective view of the ball and socket latch mounted on the forward end of the swimmer delivery vehicle showing details of the retractable line guiding arms;

FIG. 3 illustrates a perspective view of thesubmersible vehicle as it is being hauled down to the deck of the submarine vehicle;

FIG. 4 illustrates the stowed position of the swimmer delivery vehicle on the deck of the parent submarine.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring to FIG. 1, a swimmer delivery vehicle 11 is shown approaching haul down line 12. At the distal end of haul down line 12, a catch ball 13 is mounted. Catch ball 13 may be of any suitable material having sufficient strength to impart mooring tensions to haul down line 12. Similarly, haul down line 12 may be of any desired type including woven metal cables or synthetic fiber lines.

Haul down line 12 is held in a vertical position by means of a suitable buoy 14. Buoy 14, as shown, is configured in a streamlined shape to facilitate stability of line 12 when the mother ship, not shown, is underway. Buoy 14 is attached to cable 12 via buoy line 15 and catch ball 13. Buoy line 15 may be ofa lightweight material since it does not bear the stresses of the docking operation but only supports the weight of haul down line 12.

Referring to FIG. 2, the catch socket and its associated structure will be described. The body of catch socket 17 extends outwardly from the front of swimmer delivery vehicle 11 and is rigidly attached thereto. Catch socket 17 may be of a solid lightweight material such as aluminum or, alternatively, it may be hollow and fabricated from sheet stock, if desired. Catch socket 17 is rigidly affixed to swimmer delivery vehicle 11 so as to be structurally integral therewith to transmit the haul down forces to swimmer delivery vehicle 11 without damage to either catch socket 17 or the vehicle. Thus, if the outer surface of swimmer delivery vehicle 11 is not stressed, catch socket 17 is affixed to the framework thereof.

As may be seen, guide arms 18 are not affixed directly to catch socket 17 but rather to pivoted plates 19 on either side thereof. Pivoted plates 19 are made of a suitable sheet metal material and are pivoted about a pivot axle 21 which extends through one corner of pivoted plate 19. The position of pivot plates 19 is determined by a pivot rod 22 which is pivotally attached thereto and extends aft to pass into the interior of swimmer delivery vehicle 11.

As may be readily visualized, moving pivot rods 22 in a forward direction causes pivot plates 19 to swing about pivot axle 21 and position arms 18 forward of swimmer delivery vehicle 11. In FIG. 2, guide arms 18 and pivot plates 19 are shown in an intermediate position, that is, neither fully extended or fully retracted. When extended, arms 18 extend forward of swimmer delivery vehicle 11 and provide a catch area nearly as wide as the vehicle itself, as may be seen in FIG. 1. When retracted, arms 18 extend in an aft direction about the nose of swimmer vehicle 11 to offer a minimum resistance to movement of swimmer delivery vehicle 11 through the water and afford no encumberence in maneuvering the vehicle. Also, in the retracted position, guide arms 18 are less subject to breakage or bending by encountering objects when the swimmer delivery vehicle is parked.

A hemispherical depression 23 is provided in the upper surface of catch socket 17 to receive catch ball 13. A slot 24 communicates from the outside of catch socket 17 to the retaining means, not shown, to resist line 12 from pulling free.

The line retaining means, when employed, may be of any suitable state of the art type including spring biased cleats or a retractable pin extending across slot 24 from one side to the other.

Referring to FIG. 3, swimmer delivery vehicle 11 is shown attached to haul down line 12 and being lowered to the deck of the submarine 25. As shown, haul down line 12 is engaged and wrapped about winch 26 for lowering thereof. The winch operator 27, who may be one of the personnel previously in the swimmer delivery vehicle 11, may operate the winch from the deck of submarine 25 or, conversely, winch 26 may be operated from within submarine 25. If desired, another swimmer 28 may stabilize the aft portion of swimmer delivery vehicle 11 as it is lowered by manipulation of stern line 29 which may be affixed thereto.

A forward docking cradle 31 and an aft docking cradle 32 are mounted on the deck of submarine 25 and are configured to conform to the hull of swimmer delivery vehicle 11 and to'provide docking support when submersible swimmer delivery vehicle 11 has been hauled down to the deck of submarine 25. Submarine vehicle 11 is secured to docking cradles 31 and 32 by means of docking lines 33 and 34 which cooperate with docking cradles 31 and 32 respectively.

Referring to FIG. 4, swimmer delivery vehicle 11 is illustrated in its docked position. As shown, docking lines 33 and 34 are extended over submarine vehicle 11 and secured to their respective docking cradles to provide lashing support for swimmer delivery vehicle 11. If desired, a suitable hanger structure may enclose swimmer delivery vehicle 11 and prevent buffeting thereof by water currents as submarine 25 operates at cruising speeds. It will also be observed that buoy 14 has been removed from catch ball 13 and stowed elsewhere. lf a buoy 14 is air filled, this may be easily accomplished by releasing the air and stowing buoy 14 within swimmer delivery vehicle 11. Of course, other storage facilities may be employed for buoy 14, if desired.

MODE OF OPERATION The operation of the docking system is straightforward and may be readily understood by reference to the aofredescribed figures. Buoy 14 is attached to catch ball 13 and winch 26 operated to cause haul down line 12 to rise above submarine vehicle 25 to the desired height. This will permit submarine vehicle 25 to operate at depths where the diver personnel in submersible swimmer delivery vehicle 11 would not be able to operate for long periods without lengthy decompression. Of course, this operating height above submarine 25 facilitates docking of the submersible since all of the navigation and rendezvous may be accomplished by swimmer delivery vehicle 11 at modest depths not requiring exposure to the prodigious pressures associated with the depths at which submarine which 25 is operating. The operator of submersible swimmer delivery vehicle 11 homes on the acoustic signals provided by pinger 16. Again, the elevated line offers a distinct advantage because there is no danger of collision with submarine 25. When the signals have reached an intensity indicating that the rendezvous point is near, the operator of swimmer delivery vehicle 11 extends the guide arms 18 by means of pivot rod 22.

It should be noted that any of a variety of simple mechanisms may suffice to actuate pivot rod 22 and, since the submersible vehicle 11 is free flooded, the structure may simply'pass through an opening in the hull of swimmer delivery vehicle 11 and be manually manipulated between fixed stop positions.

With arms 18 extended, swimmer delivery vehicle 11 approaches the haul down line 12 under the guidance of the acoustic signals from pinger 16. When contact with line 12 has been established the swimmer delivery vehicle 11 may be increased in buoyancy slightly to ride up the line so as to seat catch ball 13 firmly in catch socket 17. At this point, the operator or other personnel in swimmer delivery vehicle 11 may exit therefrom and follow haul down line 12 to winch 26 and commence the operation thereof. Of course, under some circumstances, it may be desirable to have other personnel already aboard submarine 25 to accomplish winch operation upon receipt of signal from personnel in swimmer delivery vehicle 11. If such personnel are used, they may also accomplish the hook up between catch ball 13 and socket 17. i

The operation of winch 26 retracts line 12 thereby hauling down swimmer delivery vehicle 11 to the deck of submarine 25. Collision with the sail or other submarine superstructure is avoided by having a swimmer 28 tend to stern line 29 so as to guide swimmer delivery vehicle 11 into the docking cradles 31 and 32. When swimmer delivery vehicle 11 is secured within docking cradles 31 and 32 and docking lines 33 and 34 are placed thereabou t, the personnel on swimmer vehicle 11 and any additional personnel whichwere assisting in the docking maneuver may enter submarine 25 through 6 the appropriate underwater hatches thereby completing the docking maneuver.

The foregoing description taken together with the appended claims constitute a disclosure such as to enable a person skilled in the naval architecture and marine engineering arts and having the benefit of the teachings contained therein to make and use the invention. Further, this system herein described meets the aforestated objects of invention, and generally constitutes a meritorious advance in the art which is unobvious to such skilled worker not havingthe benefit of these teachings.

Obviously, many modifications and variations of the present invention are possible in the light of the above teachings, and, it is therefore understood that within the scope of the disclosed inventive concept, the invention may be practiced otherwise than specifically described.

What is claimed is: 1. A docking system to permit docking of a first submarine vehicle to a second submarine vehicle while both vehicles are operating beneath the surface of the water comprising: 7 g

a winch mounted on said second submarine vehicle; a haul down line attached at its bitter end to said winch so as to be wound thereon;

means attached to the distal. end of said haul down line for orienting said haul down line in an extended relationship with respect to the second submarine vehicle;

catch ballrneans attached to said haul down line and spaced from said extending means for providing an attaching surface tosaid haul down line;

' acoustic transmitter means attached to said haul down line and in close proximity to said catch ball means'for providing acoustic homing signals originating from said line; and

haul down socket means configured to cooperate with said catch ball means attached to the forward end of said first submarine vehicle for providing line coupling engagement with said catch ball means, such that upon engagement with said catch ball means said first submarine vehicle is capable of being drawn down to the deck of said second submarine vehicle for securing thereof.

2. A docking system according to claim 1 further comprising retractable line guiding means mounted on the forward end of said first submarine vehicle for guiding said "haul down line into engaging relation with the socket means carried on the forward end of said first submarine vehicle. 1

3. A docking system to permit docking of a first submarine vehicle to a second submarine vehicle while both vehicles are operating beneath the surface of the water comprising: a

a winch mounted on said second submarine vehicle; a haul down line attached at its bitter end to said winch so as to be wound thereon; means attached to the distal end of said haul down line for orienting said haul down line in an extended relationship with respect to the second sub marine vehicle; v catch ball means attached to said haul down line and spaced from'said extending'means for providing an attaching surface to said haul down line; acoustic transmitter means attached to said haul down line and in close proximity to said catch ball means for providing acoustic homing signals originating from said line;

haul down socket means configured to cooperate with said catch ball means attached to the forward end of said first submarine vehicle for providing line coupling engagement with said catch ball means, such that upon engagement with said catch ball means said first submarine vehicle is capable of being drawn down to the deck of said second submarine vehicle for securing;

retractable line guiding means mounted on the forward end of said first submarine vehicle for guiding said haul down line into engaging relation with the socket'means carried on the forward end of said first submarine delivery vehicle; and

cradle means attached to said second submarine vehicle and flexible securing means attached thereto for fixedly berthing said first submarine vehicle upon said second submarine vehicle at the conclusion of said docking maneuver.

4. A docking system according to claim 3 wherein the aforesaid line guiding means have a fixed curvature corresponding to the hull shape of the forward end of said first submarine vehicle and are attached to plates which pivot about a point on said socket means.

5. A, docking system according to claim 4 further comprising actuation rods connected to said pivoted plates and operable to extend said plates or retract said plates from within said first submarine vehicle for extending said retractable line guiding means to an operative position in front of said first submarine vehicle or retraction thereof to a position where they are adjacent to and closely conform to the nose section thereof.

6. A docking system according to claim 5 where the aforesaid haul down socket means includes a depressed frustrospherical surface in the upper surface thereof to receive said catch ball therein.

7. A docking system according to claim 6 wherein said haul down socket has a haul down line engaging slot extending from the forward portion thereof to the center of said frustrospherical surface.

8. A docking system according to claim 7 wherein said first submarine vehicle is a relatively small submarine vehicle and said second submarine is a larger submarine vehicle.

9. A docking system according to claim 8 in which the aforesaid winch means is mounted on the deck of said second submarine vehicle.

10. A docking system according to claim 9 in which the aforesaid orienting means includes a streamlined buoy. 

1. A docking system to permit docking of a first submarine vehicle to a second submarine vehicle while both vehicles are operating beneath the surface of the water comprising: a winch mounted on said second submarine vehicle; a haul down line attached at its bitter end to said winch so as to be wound thereon; means attached to the distal end of said haul down line for orienting said haul down line in an extended relationship with respect to the second submarine vehicle; catch ball means attached to said haul down line and spaced from said extending means for providing an attaching surface to said haul down line; acoustic transmitter means attached to said haul down line and in close proximity to said catch ball means for providing acoustic homing signals originating from said line; and haul down socket means configured to cooperate with said catch ball means attached to the forward end of said first submarine vehicle for providing line coupling engagement with said catch ball means, such that upon engagement with said catch ball means said first submarine vehicle is capable of being drawn down to the deck of said second submarine vehicle for securing thereof.
 2. A docking system according to claim 1 further comprising retractable line guiding means mounted on the forward end of said first submarine vehicle for guiding said haul down line into engaging relation with the socket means carried on the forward end of said first submarine vehicle.
 3. A docking system to permit docking of a first submarine vehicle to a second submarine vehicle while both vehicles are operating beneath the surface of the water comprising: a winch mounted on said second submarine vehicle; a haul down line attached at its bitter end to said winch so as to be wound thereon; means attached to the distal end of said haul down line for orienting said haul down line in an extended relationship with respect to the second submarine vehicle; catch ball means attached to said haul down line and spaced from said extending means for providing an attaching surface to said haul down line; acoustic transmitter means attached to said haul down line and in close proximity to said catch ball means for providing acoustic homing signals originating from said line; haul down socket means configured to cooperate with said catch ball means attached to the forward end of said first submarine vehicle for providing line coupling engagement with said catch ball means, such that upon engagement with said catch ball means said first submarine vehicle is capable of being drawn down to the deck of said second submarine vehicle for securing; retractable line guiding means mounted on the forward end of said first submarine vehicle for guiding said haul down line into engaging relation with the socket means carried on the forward end of said first submarine delivery vehicle; and cradle means attached to said second submarine vehicle and flexible securing means attached thereto for fixedly berthing said first submarine vehicle upon said second submarine vehicle at the conclusion of said docking maneuver.
 4. A docking system according to claim 3 wherein the aforesaid line guiding means have a fixed curvature corresponding to the hull shape of the forward end of said first submarine vehicle and are attached to plates which pivot about a point on said socket means.
 5. A docking system according to claim 4 further comprising actuation rods connected to said pivoted plates and operable to extend said plates or retract said plates from within said first submarine vehicle for extending said retractable line guiding means to an operative position in front of said first submarine vehicle or retraction thereof to a position where they are adjacent to and closely conform to the nose section thereof.
 6. A docking system according to claim 5 where the aforesaid haul down socket means includes a depressed frustrospherical surface in the upper surface thereof to receive said catch ball therein.
 7. A docking system according to claim 6 wherein said haul down socket has a haul down line engaging slot extending from the forward portion thereof to the center of said frustrospherical surface.
 8. A docking system according to claim 7 wherein said first submarine vehicle is a relatively small submarine vehicle and said second submarine is a larger submarine vehicle.
 9. A docking system according to claim 8 in which the aforesaid winch means is mounted on the deck of said second submarine vehicle.
 10. A docking system according to claim 9 in which the aforesaid orienting means includes a streamlined buoy. 